version: 66.11
glider: 129
mission: 4
dive: 286
start: 1 11 113 18 7 11
data:
$ID,129
$MISSION,4
$DIVE,286
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3075.5833
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110113,175800,1943.658,12328.344,40,1.5,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-52.2
$GPS2,110113,180643,1943.552,12328.254,16,1.0,16,-2.4
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,76.6,107126,-14.2,-8.462,-17.62
$D_GRID,5152
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,87,0.00,0.00,-65.95,0.000,2,0.000,0.000,48,1891,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.1,-3.4,11,140,7.95,2.12,-33.65,0.000,4,0.241,0.049,1969,3309,3129,0,0,0,0,0,0,25.06,26.09,26.54
$GC,155,-0.48,-175.2,12.0,-21.1,21,163,0.12,1.95,0.00,0.000,6,0.165,0.020,2001,1910,3126,0,0,0,0,0,0,25.86,26.25,28.83
$GC,481,-0.41,-175.2,101.7,-28.6,49,487,0.00,1.92,0.00,0.000,4,0.000,0.028,2001,550,3126,0,0,0,0,0,0,28.83,26.29,28.83
$GC,554,-0.34,-175.2,117.4,-24.8,52,560,0.20,1.95,0.00,0.000,6,0.149,0.021,2050,1924,3126,0,0,0,0,0,0,25.88,26.36,28.83
$GC,868,-0.32,-175.2,168.8,-14.8,68,873,0.00,1.95,0.00,0.000,4,0.000,0.028,2050,553,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,993,-0.31,-175.2,184.6,-12.5,74,999,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1929,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1316,-0.31,-175.2,216.1,-9.3,90,1321,0.00,2.00,0.00,0.000,4,0.000,0.033,2036,3315,3126,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1359,-0.31,-175.2,220.0,-9.4,92,1364,0.00,1.95,0.00,0.000,6,0.000,0.020,2036,1916,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1682,-0.31,-175.2,252.0,-9.5,108,1687,0.00,1.95,0.00,0.000,4,0.000,0.029,2036,553,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1825,-0.31,-175.2,266.5,-9.8,115,1831,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1931,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2149,-0.31,-175.2,297.9,-9.8,131,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1932,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,-0.31,-175.2,325.5,-8.5,146,2456,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,542,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2528,-0.31,-175.2,331.4,-8.9,149,2534,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1934,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2834,-0.31,-175.2,356.2,-7.0,165,2839,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,543,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2881,-0.31,-175.2,359.8,-7.7,167,2886,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1943,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3200,-0.32,-175.2,382.8,-7.6,183,3205,0.00,1.98,0.00,0.000,4,0.000,0.034,2033,3299,3121,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3234,-0.33,-175.2,384.7,-7.9,184,3239,0.00,1.90,0.00,0.000,6,0.000,0.021,2033,1931,3122,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3547,-0.35,-175.2,411.0,-8.3,200,3553,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,546,3119,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3678,-0.36,-175.2,421.9,-8.7,206,3684,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1923,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3997,-0.37,-175.2,445.9,-6.9,222,4002,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,541,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4149,-0.37,-175.2,457.5,-8.1,229,4155,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1927,3117,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4463,-0.39,-175.2,479.0,-5.9,245,4465,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1928,3139,0,0,0,0,0,0,28.83,28.83,25.31
$GC,4763,-0.41,-175.2,495.5,-5.7,260,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1928,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5065,-0.43,-175.2,514.3,-6.7,275,5071,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,537,3138,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5098,-0.44,-175.2,516.2,-6.9,276,5103,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1926,3138,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5412,-0.46,-175.2,540.1,-7.4,292,5417,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,535,3138,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5435,-0.48,-175.2,542.2,-7.6,293,5440,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1931,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5759,-0.50,-175.2,566.7,-7.2,309,5765,0.12,2.05,0.00,0.000,4,0.100,0.028,1965,539,3135,0,0,0,0,0,0,26.44,26.29,28.83
$GC,5803,-0.50,-175.2,571.5,-8.9,311,5809,0.15,1.98,0.00,0.000,6,0.140,0.022,1998,1918,3134,0,0,0,0,0,0,26.02,26.39,28.83
$GC,6127,-0.50,-175.2,598.1,-7.5,327,6132,0.00,2.03,0.00,0.000,4,0.000,0.031,1999,546,3132,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6179,-0.50,-175.2,601.6,-7.7,329,6185,0.00,1.98,0.00,0.000,6,0.000,0.022,1992,1929,3132,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6495,-0.50,-175.2,626.9,-8.1,340,6500,0.00,2.05,0.00,0.000,4,0.000,0.031,1992,541,3130,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6552,-0.50,-175.2,630.0,-8.3,341,6558,0.00,2.00,0.00,0.000,6,0.000,0.023,1984,1936,3131,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6858,-0.50,-175.2,658.6,-8.5,352,6863,0.00,2.05,0.00,0.000,4,0.000,0.031,1984,549,3129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6895,-0.50,-175.2,661.5,-8.6,353,6901,0.00,1.98,0.00,0.000,6,0.000,0.023,1976,1929,3128,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7226,-0.50,-175.2,689.3,-7.8,364,7232,0.00,2.03,0.00,0.000,4,0.000,0.031,1976,550,3127,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7274,-0.50,-175.2,692.2,-7.9,365,7280,0.00,1.95,0.00,0.000,6,0.000,0.023,1967,1924,3127,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7593,-0.50,-175.2,721.5,-9.3,376,7598,0.00,2.05,0.00,0.000,4,0.000,0.031,1967,541,3125,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7620,-0.50,-175.2,721.5,-9.3,376,7627,0.12,1.98,0.00,0.000,6,0.148,0.023,1994,1929,3125,0,0,0,0,0,0,26.02,26.34,28.83
$GC,7929,-0.50,-175.2,749.1,-7.9,387,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1932,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8226,-0.50,-175.2,772.2,-7.5,397,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8527,-0.50,-175.2,794.8,-7.6,407,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8826,-0.50,-175.2,817.6,-7.6,417,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9127,-0.50,-175.2,840.0,-7.3,427,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9429,-0.50,-175.2,861.5,-7.1,437,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9727,-0.51,-175.2,881.9,-6.7,447,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1932,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10027,-0.53,-175.2,901.1,-6.3,457,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10327,-0.54,-175.2,920.6,-6.7,467,10332,0.00,2.08,0.00,0.000,4,0.000,0.033,1994,544,3114,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10380,-0.55,-175.2,923.1,-6.9,468,10385,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1924,3113,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10693,-0.55,-175.2,945.4,-6.6,479,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10995,-0.55,-175.2,965.4,-6.8,489,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11293,-0.55,-175.2,986.1,-7.2,499,11299,0.00,2.08,0.00,0.000,4,0.000,0.034,1988,541,3109,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11327,-0.55,-175.2,988.7,-7.4,500,11332,0.00,2.00,0.00,0.000,6,0.000,0.024,1981,1928,3110,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,11358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11358,begin apogee
$GC,11364,-0.17,0.0,991.4,-7.6,501,11521,0.35,0.00,150.25,1.415,6,0.117,0.000,2100,1928,2409,0,0,0,0,0,0,25.72,28.83,22.34
$STATE,11523,end apogee,CONTROL_FINISHED_OK
$STATE,11523,begin climb
$GC,11525,0.54,175.2,998.2,0.0,506,11697,0.70,2.30,161.60,1.366,4,0.087,0.036,2332,3280,1693,0,0,0,0,0,0,24.09,23.60,21.94
$GC,11709,0.60,316.5,994.2,3.9,512,11852,0.00,2.17,131.50,1.343,6,0.000,0.022,2341,1909,1117,0,0,0,0,0,0,28.83,24.10,21.96
$GC,12182,0.64,348.0,959.3,7.4,528,12212,0.00,0.00,28.67,1.317,6,0.000,0.000,2340,1909,990,0,0,0,0,0,0,28.83,28.83,23.72
$GC,12512,0.67,376.6,934.6,7.5,539,12541,0.10,0.00,26.60,1.324,6,0.118,0.000,2381,1908,873,0,0,0,0,0,0,26.24,28.83,23.87
$GC,12842,0.68,376.6,903.2,9.5,550,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1908,867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13140,0.70,376.6,876.6,8.6,560,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1908,868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13440,0.71,376.6,850.5,8.8,570,13445,0.00,2.08,0.00,0.000,4,0.000,0.034,2381,3285,867,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13474,0.72,376.6,847.3,9.0,571,13479,0.00,2.00,0.00,0.000,6,0.000,0.024,2385,1894,867,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13809,0.73,376.6,815.3,9.9,582,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1894,867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14109,0.74,376.6,784.2,10.2,592,14114,0.00,2.10,0.00,0.000,4,0.000,0.034,2384,3292,866,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21379,end climb,SURFACE_DEPTH_REACHED
$STATE,21379,begin surface coast
$FINISH,1.5,1.022421
$STATE,21390,end surface coast,CONTROL_FINISHED_OK
$STATE,21390,begin surface
$SM_CCo,21466,0.00,0.000,0,0,207,540.15
$SM_GC,1.84,6.35,0.00,0.00,0.041,0.000,0.000,60,1943,207,-6.45,0.71,540.15,0,0,0,0,0,0,26.14,28.83,28.83
$IRIDIUM_FIX,1934.38,12324.27,110113,111155
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.34
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3910528
$24V_AH,21.9,57.198
$10V_AH,9.9,39.747
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.500,153.400,607.125,0.000,0.000,0.000,0.000,321.425,0.000,0.000,18.090,2986.302,15261.290,730.074,2559.816,440.723,0.000,2290.332,0.000,2144.790,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,48.960,1415.250,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21414.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.704,0.000,0.000,0.000
$MEM,329048
$DATA_FILE_SIZE,36700,966
$CAP_FILE_SIZE,225033,0
$CFSIZE,260034560,222941184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,276.2,1
$GPS,120113,000626,1944.911,12330.810,30,3.6,49,-2.4